How to publish/subscribe python-pcl point clouds

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I'm using ROS Noetic on Ubuntu 20. I'm trying to work with point clouds using the python-pcl package. I would like to publish point clouds by a node and receive it by another.

I know i should send/receive it using PointCloud2 and when working with I should convert it to pcl, but how?

Is there any ready-made functions to convert pcl_to_ros and ros_to_pcl? Note that it's a xyzi (i for intensity not rgb) cloud.

I found online helper functions, but they use xyzrgb and I need it to be xyzi.